etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@0: 
etisserant@0:  Author: CANopen Canada (canfestival@canopencanada.ca)
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: #include <def.h>
etisserant@0: 
etisserant@0: #include <can.h>
etisserant@0: #include <data.h>
etisserant@0: #include <objdictdef.h>
etisserant@0: #include <objacces.h>
etisserant@0: #include "can_driver.h"
etisserant@0: 
etisserant@0: #ifdef LED_ENABLE
etisserant@0: #include "led.h"
etisserant@0: #else
etisserant@0: #define led_set_state(a,b)
etisserant@0: #endif
etisserant@0: 
etisserant@0: #include "lss.h"
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: /*
etisserant@0: 	NOTES
etisserant@0: 
etisserant@0: 	1. since in the LSS protocol all LSS Slave use the same COB, only 1 Slave
etisserant@0: 	must be allowed to communicate with the Master
etisserant@0: 
etisserant@0: 	2. the Master always take the iniative. the Slave is only allowed to transmit
etisserant@0: 	within a confirmed service
etisserant@0: 
etisserant@0: 	3. requesting message (from the Master) using COB-ID 2021 and response messages
etisserant@0: 	(from the Slave) using COB-ID 2020
etisserant@0: */
etisserant@0: 
etisserant@0: /*
etisserant@0: 	0 = this slave is not talking to the master
etisserant@0: 	1 = this slave is talking to the master (this slave has been selected via )
etisserant@0: */
etisserant@0: int	slave_selector;
etisserant@0: 
etisserant@0: int	current_mode;
etisserant@0: 
etisserant@0: int	lss_table_selector, lss_table_index;
etisserant@0: 
etisserant@0: 
etisserant@0: /* slave storing the information sent by the master */
etisserant@0: UNS32 lss_buffer[10];
etisserant@0: /*
etisserant@0: 	how this buffer is used
etisserant@0: 
etisserant@0: 	for a SLAVE 
etisserant@0: 	[0..3]  used to store the LSS Address
etisserant@0: 	[4..9]  use by LSS Identify Remort Slave
etisserant@0: 
etisserant@0: 	for the MASTER
etisserant@0: 	[0..3] hold the answer from the slave regarding its ID
etisserant@0: */
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_copy(UNS8 *data, UNS32 value)
etisserant@0: /* transfert 32 bits value into uns8 data vector */
etisserant@0: {
etisserant@0: 	data[0] = value & 0xff;
etisserant@0: 	data[1] = (value>>8) & 0xff;
etisserant@0: 	data[2] = (value>>16) & 0xff;
etisserant@0: 	data[3] = (value>>24) & 0xff;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: UNS32 lss_get_value(UNS8 *data)
etisserant@0: /* build a 'UNS32' value from a 'unsigned char' vector */
etisserant@0: {
etisserant@0: 	return data[0] + (data[1]<<8) + (data[2]<<16) + (data[3]<<24);
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_init_msg(Message *msg)
etisserant@0: {
etisserant@0: 	msg->cob_id.w = 0;
etisserant@0: 	msg->rtr = 0;
etisserant@0: 	msg->len = 0;
etisserant@0: 	msg->data[0] = 0;
etisserant@0: 	msg->data[1] = 0;
etisserant@0: 	msg->data[2] = 0;
etisserant@0: 	msg->data[3] = 0;
etisserant@0: 	msg->data[4] = 0;
etisserant@0: 	msg->data[5] = 0;
etisserant@0: 	msg->data[6] = 0;
etisserant@0: 	msg->data[7] = 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_SwitchModeGlobal(CO_Data *d, UNS32 mode)
etisserant@0: /*
etisserant@0: 	this service is used to switch all LSS slaves in the network between operation
etisserant@0: 	mode and configuration mode.
etisserant@0: */
etisserant@0: {	
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	/* 
etisserant@0: 		sending a COB-ID 2021
etisserant@0: 		[0] = 4 (for switch mode global)
etisserant@0: 		[1] = 0 for operation mode, = 1 for configuration mode
etisserant@0: 		[2..7] = 0 reserved
etisserant@0: 	*/
etisserant@0: 	
etisserant@0: 	if (!(d->iam_a_slave))
etisserant@0: 	{
etisserant@0: 		msg.cob_id.w = 0x07E5 /* 2021 */;
etisserant@0: 
etisserant@0: 		msg.len = 2;
etisserant@0: 		msg.data[0] = 4;
etisserant@0: 		msg.data[1] = (UNS8)mode;
etisserant@0: 	
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: 	else
etisserant@0: 	{
etisserant@0: 		/* set mode global */
etisserant@0: 		current_mode = mode;
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_SwitchModeSelective_master(CO_Data *d, UNS32 *LSSaddr)
etisserant@0: /*
etisserant@0: 	LSS address : <vendor-id> <product-code> <revision-number> <serial-number>
etisserant@0: 	vendor-id : provided by CiA
etisserant@0: 	identical to the CANopen identity object
etisserant@0: 
etisserant@0: 	select the slave corresponding to this ADDRESS
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (d->iam_a_slave) /* not the master */
etisserant@0: 		return; 
etisserant@0: 
etisserant@0: 	msg.cob_id.w = 0x07E5 /* 2021 */;
etisserant@0: 	msg.len=5;
etisserant@0: 
etisserant@0: 	msg.data[0] = 64;
etisserant@0: 	lss_copy(msg.data+1, LSSaddr[0]); 
etisserant@0: 	/* transmit */
etisserant@0: 	(*d->canSend)(&msg);
etisserant@0: 
etisserant@0: 	msg.data[0] = 65;
etisserant@0: 	lss_copy(msg.data+1, LSSaddr[1]); 
etisserant@0: 	/* transmit */
etisserant@0: 	(*d->canSend)(&msg);
etisserant@0: 
etisserant@0: 	msg.data[0] = 66;
etisserant@0: 	lss_copy(msg.data+1, LSSaddr[2]); 
etisserant@0: 	/* transmit */
etisserant@0: 	(*d->canSend)(&msg);
etisserant@0: 
etisserant@0: 	msg.data[0] = 67;
etisserant@0: 	lss_copy(msg.data+1, LSSaddr[3]); 
etisserant@0: 	/* transmit */
etisserant@0: 	(*d->canSend)(&msg);
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: UNS32 lss_validate_address(CO_Data* d)
etisserant@0: {
etisserant@0: #if 0 
etisserant@0: 	extern s_identity obj1018;
etisserant@0: 
etisserant@0: 	/* maybe we should go throught getODentry but those
etisserant@0: 	data are 1) RO and 2) the proper ID of this device */
etisserant@0: #else
etisserant@0: 	UNS32  r, vendor_id, product_code, revision_number, serial_number;
etisserant@0: 	UNS8   sz = sizeof(UNS32), dt = int32;
etisserant@0: 
etisserant@0: 	r = getODentry(d, 0x1018, 1, (void *)&vendor_id, &sz, &dt, 0);
etisserant@0: 	r = getODentry(d, 0x1018, 2, (void *)&product_code, &sz, &dt, 0);
etisserant@0: 	r = getODentry(d, 0x1018, 3, (void *)&revision_number, &sz, &dt, 0);
etisserant@0: 	r = getODentry(d, 0x1018, 4, (void *)&serial_number, &sz, &dt, 0);
etisserant@0: 
etisserant@0: #endif
etisserant@0: 	/*
etisserant@0: 		if
etisserant@0: 		lss_buffer[0] == vendor-id
etisserant@0: 		lss_buffer[1] == product code
etisserant@0: 		lss_buffer[2] == revision
etisserant@0: 		lss_buffer[3] == serial
etisserant@0: 
etisserant@0: 		then return 1
etisserant@0: 		else return 0;
etisserant@0: 	*/
etisserant@0: 
etisserant@0: 	if (lss_buffer[0] == vendor_id  &&
etisserant@0: 	    lss_buffer[1] == product_code &&
etisserant@0: 	    lss_buffer[2] == revision_number &&
etisserant@0: 	    lss_buffer[3] == serial_number)
etisserant@0: 	{
etisserant@0: 		return 1;
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_SwitchModeSelective_slave(CO_Data *d)
etisserant@0: /* 
etisserant@0: 	SwitchModeSelective for the SLAVE
etisserant@0: 	received the frames from the master and start building 
etisserant@0: 	the lss address 
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	/*
etisserant@0: 		the master broadcast the address of a particular slave
etisserant@0: 		for 64,65 and 66 store the partial address
etisserant@0: 		when 67 arrive process the call and asknowledge if necessary
etisserant@0: 	*/
etisserant@0: 
etisserant@0: 	if (lss_validate_address(d))
etisserant@0: 	{
etisserant@0: 		/* slave should transmit cob_id 2020  */
etisserant@0: 		msg.cob_id.w = 0x07E4 /* 2020 */;
etisserant@0: 
etisserant@0: 		msg.len = 2;
etisserant@0: 		msg.data[0] = 68;
etisserant@0: 		msg.data[1] = (UNS8)current_mode;
etisserant@0: 
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	/* reset the address */
etisserant@0: 	lss_buffer[0] = 0;
etisserant@0: 	lss_buffer[1] = 0;
etisserant@0: 	lss_buffer[2] = 0;
etisserant@0: 	lss_buffer[3] = 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_ConfigureNode_ID(CO_Data *d, UNS32 node_id)
etisserant@0: /*
etisserant@0: 	through this service the LSS Master configures the NMT-address
etisserant@0: 	parameter of a LSS slave.
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (!(d->iam_a_slave))
etisserant@0: 	{
etisserant@0: 		msg.cob_id.w = 0x07E5 /* 2021 */;
etisserant@0: 
etisserant@0: 		msg.len = 2;
etisserant@0: 		msg.data[0] = 17;
etisserant@0: 		msg.data[1] = (UNS8)node_id;
etisserant@0: 
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: 	else
etisserant@0: 	{
etisserant@0: 		/*
etisserant@0: 			receiving NODE ID from the master
etisserant@0: 		*/
etisserant@0: 
etisserant@0: 		/*
etisserant@0: 			error code 
etisserant@0: 			0 = success
etisserant@0: 			1 = node id out of range
etisserant@0: 			2..254 = reserved
etisserant@0: 			255 = implementation specific error occured
etisserant@0: 				spec error = mode detailed error
etisserant@0: 		*/
etisserant@0: 		msg.cob_id.w = 0x07E4 /* 2020 */;
etisserant@0: 
etisserant@0: 		msg.len = 3;
etisserant@0: 		msg.data[0] = 17;
etisserant@0: 		/* msg.data[1] = error code */
etisserant@0: 		/* msg.data[2] = spec error */
etisserant@0: 
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_ConfigureBitTimingParameters(CO_Data *d, 
etisserant@0:                                       UNS32 table_selector,
etisserant@0:                                       UNS32 table_index)
etisserant@0: /*
etisserant@0: 	this service allows all LSS slaves in configuration mode.
etisserant@0: 	must be followed by an Activate Bit Timing Parameters
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (!(d->iam_a_slave))
etisserant@0: 	{
etisserant@0: 		msg.cob_id.w = 0x07E5 /* 2021 */;
etisserant@0: 
etisserant@0: 		msg.len = 3;
etisserant@0: 		msg.data[0] = 19;
etisserant@0: 		msg.data[1] = (UNS8)table_selector;
etisserant@0: 		msg.data[2] = (UNS8)table_index;
etisserant@0: 
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: 	else
etisserant@0: 	{
etisserant@0: 		UNS8 error_code;
etisserant@0: 
etisserant@0: 		/* validate if this baudrate is possible */
etisserant@0: 		if (table_selector == 0  &&  baudrate_valid(table_index) == 1)
etisserant@0: 		{
etisserant@0: 			lss_table_selector = table_selector;
etisserant@0: 			lss_table_index = table_index;
etisserant@0: 		}
etisserant@0: 		else
etisserant@0: 			error_code = 1; /* bit timing not supported */
etisserant@0: 
etisserant@0: 		msg.cob_id.w = 0x07E4 /* 2020 */;
etisserant@0: 
etisserant@0: 		msg.len = 3;
etisserant@0: 		msg.data[0] = 19;
etisserant@0: 		msg.data[1] = error_code;
etisserant@0: 		msg.data[2] = 0;
etisserant@0: 
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	led_set_state(d, LED_AUTOBITRATE);
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_ActivateBitTimingParameters_master(CO_Data *d, unsigned short switch_delay)
etisserant@0: /*
etisserant@0: 	switch_delay in ms
etisserant@0: 
etisserant@0: 	switch_delay has to be longer than the longest timeof any node
etisserant@0: 	in the network to avoid that a node already switches while another
etisserant@0: 	stills transmist the old bit timing parameters
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (d->iam_a_slave)
etisserant@0: 		return;
etisserant@0: 	
etisserant@0: 	msg.cob_id.w = 0x07E5 /* 2021 */;
etisserant@0: 
etisserant@0: 	msg.len = 3;
etisserant@0: 	msg.data[0] = 21;
etisserant@0: 	msg.data[1] = (UNS8)(switch_delay &  0xff);
etisserant@0: 	msg.data[2] = (UNS8)((switch_delay >> 8) & 0xff);
etisserant@0: 
etisserant@0: #ifdef LED_ENABLE
etisserant@0: 	led_set_state(LED_AUTOBITRATE);		
etisserant@0: #endif
etisserant@0: 	/* transmit */
etisserant@0: 	(*d->canSend)(&msg);
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_ActivateBitTimingParameters_slave(UNS8 byte_low, UNS8 byte_high)
etisserant@0: {
etisserant@0: 	/* rebuild the delay value (short) from the 2 (UNS8) data */
etisserant@0: 	unsigned short switch_delay = byte_low + (((UNS16)byte_high)<<8);
etisserant@0: 
etisserant@0: 	/* set the baudrate to the value proposed by the master */
etisserant@0: 	if (lss_table_selector == 0)
etisserant@0: 		baudrate_set(lss_table_index);
etisserant@0: 
etisserant@0: 	/* wait for switch_delay ms before continuing */
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_StoreConfiguredParameters(CO_Data *d)
etisserant@0: /*
etisserant@0: 	store configured parameters into non-volatile storage
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (!(d->iam_a_slave))
etisserant@0: 	{
etisserant@0: 		msg.cob_id.w = 0x07E5 /* 2021 */;
etisserant@0: 
etisserant@0: 		msg.len = 1;
etisserant@0: 		msg.data[0] = 23;
etisserant@0: 
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: 	else
etisserant@0: 	{
etisserant@0: 		msg.cob_id.w = 0x07E4 /* 2020 */;
etisserant@0: 
etisserant@0: 		msg.data[0] = 23;
etisserant@0: 		/* msg.data[1] = error code; */
etisserant@0: 		/* msg.data[2] = spec err */
etisserant@0: 		
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_InquireLSSAddress_master(CO_Data *d, int flag)
etisserant@0: /*
etisserant@0: 	this service allows to determine the LSS-address parameters of a LSS-slave in
etisserant@0: 	configuration mode
etisserant@0: 
etisserant@0: 	request 1 single item of the LSS address
etisserant@0: 	0 = request vendor-id
etisserant@0: 	1 = request product-id
etisserant@0: 	2 = request revision
etisserant@0: 	3 = request serial
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (!(d->iam_a_slave))
etisserant@0: 	{
etisserant@0: 		msg.cob_id.w = 0x07E5 /* 2021 */;
etisserant@0: 
etisserant@0: 		msg.len = 1;
etisserant@0: 		msg.data[0] = 90 + flag;
etisserant@0: 	
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: int lss_InquireLSSAddress_slave(CO_Data *d, int cs)
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (!(d->iam_a_slave)) /* not a slave */
etisserant@0: 		return -1;
etisserant@0: 
etisserant@0: 	UNS32 value = 0;
etisserant@0: 
etisserant@0: 	switch(cs)
etisserant@0: 	{
etisserant@0: 		case 90:
etisserant@0: 			value = 0; /* = vendor id */
etisserant@0: 			break;
etisserant@0: 		case 91:
etisserant@0: 			value = 0; /* = product code */
etisserant@0: 			break;
etisserant@0: 		case 92:
etisserant@0: 			value = 0; /* = revision */
etisserant@0: 			break;
etisserant@0: 		case 93:
etisserant@0: 			value = 0; /* = serial */
etisserant@0: 			break;
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	if (value > 0)
etisserant@0: 	{
etisserant@0: 		msg.cob_id.w = 0x07E4 /* 2020 */;
etisserant@0: 	
etisserant@0: 		msg.len=5;
etisserant@0: 		msg.data[0] = cs;
etisserant@0: 		lss_copy(msg.data+1, value);
etisserant@0: 		
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 
etisserant@0: 		return 0;
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	return -1;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_IdentifyRemoteSlaves(CO_Data *d, 
etisserant@0:                               UNS32 vendor_id,
etisserant@0:                               UNS32 product_code,
etisserant@0:                               UNS32 rev_low,
etisserant@0:                               UNS32 rev_high,
etisserant@0:                               UNS32 serial_low,
etisserant@0:                               UNS32 serial_high)
etisserant@0: /*
etisserant@0: 	throught this service, the LSS Master requests all LSS slave whose LSS address
etisserant@0: 	meets the LSSaddr_sel to idenfity themselves through LSS Identify Slave
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (!(d->iam_a_slave))
etisserant@0: 	{
etisserant@0: 		/*
etisserant@0: 			request answers from all slaves corresponding
etisserant@0: 			to the revision and serial range of values
etisserant@0: 		*/
etisserant@0: 
etisserant@0: 		msg.cob_id.w = 0x07E5 /* 2021 */;
etisserant@0: 		msg.len=5;
etisserant@0: 
etisserant@0: 		msg.data[0] = 70;
etisserant@0: 		lss_copy(msg.data+1, vendor_id);
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 
etisserant@0: 		msg.data[0] = 71;
etisserant@0: 		lss_copy(msg.data+1, product_code); 
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	
etisserant@0: 		msg.data[0] = 72; /* revision number low */
etisserant@0: 		lss_copy(msg.data+1, rev_low);
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 
etisserant@0: 		msg.data[0] = 73; /* revision number high */
etisserant@0: 		lss_copy(msg.data+1, rev_high);
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	
etisserant@0: 		msg.data[0] = 74; /* serial number low */
etisserant@0: 		lss_copy(msg.data+1, serial_low);
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 
etisserant@0: 		msg.data[0] = 75; /* serial number high */
etisserant@0: 		lss_copy(msg.data+1, serial_high);
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: int lss_validate_range_addr(CO_Data *d)
etisserant@0: {
etisserant@0: 	/*
etisserant@0: 		if 
etisserant@0: 
etisserant@0: 		lss_buffer[4] == vendor_id
etisserant@0: 		lss_buffer[5] == product code
etisserant@0: 		lss_buffer[6] <= revision <= lss_buffer[7]
etisserant@0: 		lss_buffer[8] <= serial <= lss_buffer[9]
etisserant@0: 
etisserant@0: 		then return 1
etisserant@0: 		else return 0
etisserant@0: 	*/
etisserant@0: 
etisserant@0: 	UNS32  r, vendor_id, product_code, revision_number, serial_number;
etisserant@0: 	UNS8   sz = sizeof(UNS32), dt = int32;
etisserant@0: 
etisserant@0: 	r = getODentry(d, 0x1018, 1, (void *)&vendor_id, &sz, &dt, 0);
etisserant@0: 	r = getODentry(d, 0x1018, 2, (void *)&product_code, &sz, &dt, 0);
etisserant@0: 	r = getODentry(d, 0x1018, 3, (void *)&revision_number, &sz, &dt, 0);
etisserant@0: 	r = getODentry(d, 0x1018, 4, (void *)&serial_number, &sz, &dt, 0);
etisserant@0: 
etisserant@0: 	if (lss_buffer[4] == vendor_id  &&
etisserant@0: 	    lss_buffer[5] == product_code &&
etisserant@0: 	    lss_buffer[6] <= revision_number &&
etisserant@0: 	    revision_number <= lss_buffer[7] &&
etisserant@0: 	    lss_buffer[8] <= serial_number &&
etisserant@0: 	    serial_number <= lss_buffer[9])
etisserant@0: 	{
etisserant@0: 		return 1;
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void lss_IdentifySlave(CO_Data *d)
etisserant@0: /*
etisserant@0: 	through this service, an LSS slave indicates that it is a slave
etisserant@0: 	with LSS address within the LSSaddr_sel
etisserant@0: */
etisserant@0: {
etisserant@0: 	Message msg;
etisserant@0: 	lss_init_msg(&msg);
etisserant@0: 
etisserant@0: 	if (lss_validate_range_addr(d))
etisserant@0: 	{
etisserant@0: 		msg.cob_id.w = 0x07E4 /* 2020 */;
etisserant@0: 
etisserant@0: 		msg.len = 1;
etisserant@0: 		msg.data[0] = 79;
etisserant@0: 
etisserant@0: 		/* transmit */
etisserant@0: 		(*d->canSend)(&msg);
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	/* reset */
etisserant@0: 	lss_buffer[4] = 0;
etisserant@0: 	lss_buffer[5] = 0;
etisserant@0: 	lss_buffer[6] = 0;
etisserant@0: 	lss_buffer[7] = 0;
etisserant@0: 	lss_buffer[8] = 0;
etisserant@0: 	lss_buffer[9] = 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: int lss_process_msg(CO_Data *d, Message *msg)
etisserant@0: {
etisserant@0: 	/* process the incoming message */
etisserant@0: 	if (msg->cob_id.w == 0x07E4 /* 2020 */)
etisserant@0: 	{
etisserant@0: 		// should be the master
etisserant@0: 		// a slave just answered
etisserant@0: 		switch(msg->data[0])
etisserant@0: 		{
etisserant@0: 			/* slave acknowledging the SwitchModeSelective call */
etisserant@0: 			case 68: 
etisserant@0: 				/* msg->data[1] contains the 'mode global' value from the slave*/
etisserant@0: 				break;
etisserant@0: 
etisserant@0: 			/* a slave had acknowledged the call from LSS Identify Remote Slave */
etisserant@0: 			case 79:
etisserant@0: 				break;
etisserant@0: 
etisserant@0: 			/* the slave acknowledged and sent the requested data */
etisserant@0: 			case 90:
etisserant@0: 				lss_buffer[0] = lss_get_value(msg->data+1);
etisserant@0: 				/* action ? */
etisserant@0: 				break;
etisserant@0: 			case 91:
etisserant@0: 				lss_buffer[1] = lss_get_value(msg->data+1);
etisserant@0: 				/* action ? */
etisserant@0: 				break;
etisserant@0: 			case 92:
etisserant@0: 				lss_buffer[2] = lss_get_value(msg->data+1);
etisserant@0: 				/* action ? */
etisserant@0: 				break;
etisserant@0: 			case 93:
etisserant@0: 				lss_buffer[3] = lss_get_value(msg->data+1);
etisserant@0: 				/* action ? */
etisserant@0: 				break;
etisserant@0: 		}
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	else if (msg->cob_id.w == 0x07E5 /* 2021 */)
etisserant@0: 	{
etisserant@0: 		// should be a slave
etisserant@0: 		// the master sent a request
etisserant@0: 		switch(msg->data[0])
etisserant@0: 		{
etisserant@0: 			case 4:
etisserant@0: 				lss_SwitchModeGlobal(d, msg->data[1]);
etisserant@0: 				break;
etisserant@0: 
etisserant@0: 			case 17:
etisserant@0: 				lss_ConfigureNode_ID(d, msg->data[1]);
etisserant@0: 				break;
etisserant@0: 
etisserant@0: 			case 19:
etisserant@0: 				lss_ConfigureBitTimingParameters(d, msg->data[1], msg->data[2]);
etisserant@0: 				break;
etisserant@0: 			case 21:
etisserant@0: 				lss_ActivateBitTimingParameters_slave(msg->data[1], msg->data[2]);
etisserant@0: 				break;
etisserant@0: 
etisserant@0: 			/* Switch Mode Selective */
etisserant@0: 			case 64:
etisserant@0: 				lss_buffer[0] = lss_get_value(msg->data+1);
etisserant@0: 				break;
etisserant@0: 			case 65:
etisserant@0: 				lss_buffer[1] = lss_get_value(msg->data+1);
etisserant@0: 				break;
etisserant@0: 			case 66:
etisserant@0: 				lss_buffer[2] = lss_get_value(msg->data+1);
etisserant@0: 				break;
etisserant@0: 			case 67:
etisserant@0: 				lss_buffer[3] = lss_get_value(msg->data+1);
etisserant@0: 				lss_SwitchModeSelective_slave(d);
etisserant@0: 				break;
etisserant@0: 
etisserant@0: 			/* Identify Remote Slave */
etisserant@0: 			case 70:
etisserant@0: 				lss_buffer[4] = lss_get_value(msg->data+1);
etisserant@0: 				break;
etisserant@0: 			case 71:
etisserant@0: 				lss_buffer[5] = lss_get_value(msg->data+1);
etisserant@0: 				break;
etisserant@0: 			case 72:
etisserant@0: 				lss_buffer[6] = lss_get_value(msg->data+1);
etisserant@0: 				break;
etisserant@0: 			case 73:
etisserant@0: 				lss_buffer[7] = lss_get_value(msg->data+1);
etisserant@0: 				break;
etisserant@0: 			case 74:
etisserant@0: 				lss_buffer[8] = lss_get_value(msg->data+1);
etisserant@0: 				break;
etisserant@0: 			case 75:
etisserant@0: 				lss_buffer[9] = lss_get_value(msg->data+1);
etisserant@0: 				lss_IdentifySlave(d);
etisserant@0: 				break;
etisserant@0: 
etisserant@0: 			/* Inquire Identify of Slave */
etisserant@0: 			case 90:
etisserant@0: 			case 91:
etisserant@0: 			case 92:
etisserant@0: 			case 93:
etisserant@0: 				lss_InquireLSSAddress_slave(d, msg->data[0]);
etisserant@0: 				break;
etisserant@0: 		}
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	return 0;
etisserant@0: }